A Direct Output Method of Quaternion Based on Angular Velocity and FPGA

Abstract

The present invention relates to a kind of quaternion direct output method based on angular velocity and FPGA, this method obtains two coefficient vectors according to the off-line optimization of least squares or other optimization methods through given two optimization indexes and approximation formula, according to these two vectors and approximation formulas to obtain two important scalar parameters, one of which is multiplied by three angular velocities to obtain the state transition matrix approximation value of the quaternion. +1) Quaternion vector value at time T; the present invention can directly obtain the quaternion output from the angular velocity measurement through the FPGA, without the need of DSP or other processing units, not only with high efficiency, but also in flight systems with higher sampling rates Or the output approximation degree of the inertial measurement unit is very good, and can be widely used in vehicles, aircraft attitude measurement and navigation.

Description

A Quaternion Direct Output Method Based on Angular Velocity and FPGA technical field The present invention relates to a kind of strapdown inertial navigation control method, particularly a kind of four-way system based on angular velocity and FPGA The arity direct output method. Background technique Strapdown inertial navigation control technology is one of research focus in the field of autonomous navigation control at present, attitude update algorithm is The core of its algorithm is also one of the main factors affecting the accuracy of the SINS. Therefore design and adopt a reasonable posture Updating the algorithm becomes a subject of research. From the published literature, there are mainly the following algorithms for attitude calculation: Euler angle method, direction cosine method, equivalent rotation vector method, quaternion method. 1. Euler's method solves attitude angle and obtains by solving Euler's equation, but there is singularity in Euler's equa...

AI Technical Summary

Problems solved by technology

In order to overcome the complex deficiencies of attitude update algorithm in existing strapdown inertial navigation control method, the present invention provides

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